Motor Control Library

File content as of revision 8:a9513361a2ec:

/**
 ******************************************************************************
 * @file    l6470_class.h
 * @author  Davide Aliprandi, STMicrolectronics
 * @version V1.0.0
 * @date    November 12th, 2015
 * @brief   This file contains the class of an L6470 Motor Control component.
 ******************************************************************************
 *
 * COPYRIGHT(c) 2014 STMicroelectronics
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *   1. Redistributions of source code must retain the above copyright notice,
 *      this list of conditions and the following disclaimer.
 *   2. Redistributions in binary form must reproduce the above copyright notice,
 *      this list of conditions and the following disclaimer in the documentation
 *      and/or other materials provided with the distribution.
 *   3. Neither the name of STMicroelectronics nor the names of its contributors
 *      may be used to endorse or promote products derived from this software
 *      without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 ******************************************************************************
 */


/* Generated with Stm32CubeTOO -----------------------------------------------*/


/* Revision ------------------------------------------------------------------*/
/*
    Repository:       http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
    Branch/Trunk/Tag: trunk
    Based on:         X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.h
    Revision:         0
*/


/* Define to prevent recursive inclusion -------------------------------------*/

#ifndef __L6470_CLASS_H
#define __L6470_CLASS_H


/* Includes ------------------------------------------------------------------*/

/* ACTION 1 ------------------------------------------------------------------*
 * Include here platform specific header files.                               *
 *----------------------------------------------------------------------------*/        
#include "mbed.h"
#include "DevSPI.h"
/* ACTION 2 ------------------------------------------------------------------*
 * Include here component specific header files.                              *
 *----------------------------------------------------------------------------*/        
#include "l6470.h"
/* ACTION 3 ------------------------------------------------------------------*
 * Include here interface specific header files.                              *
 *                                                                            *
 * Example:                                                                   *
 *   #include "../Interfaces/Humidity_class.h"                                *
 *   #include "../Interfaces/Temperature_class.h"                             *
 *----------------------------------------------------------------------------*/
#include "../Interfaces/StepperMotor_class.h"


/* Classes -------------------------------------------------------------------*/

/** Class representing a L6470 component.
 */
class L6470 : public StepperMotor
{
public:

    /*** Public Component Related Types ***/

    /**
     * @brief Prepared Actions.
     */
    typedef enum
    {
        PREPARED_NO_ACTION = 0,
        PREPARED_GET_POSITION,
        PREPARED_GET_MARK,
        PREPARED_GET_SPEED,
        PREPARED_GET_MAX_SPEED,
        PREPARED_GET_MIN_SPEED,
        PREPARED_GET_ACCELERATION,
        PREPARED_GET_DECELERATION,
        PREPARED_GET_DIRECTION,
        PREPARED_SET_MARK
    } prepared_action_t;


    /*** Constructor and Destructor Methods ***/

    /**
     * @brief Constructor.
     * @param flag_irq      pin name of the FLAG pin of the component.
     * @param busy_irq      pin name of the BUSY pin of the component.
     * @param standby_reset pin name of the STBY\RST pin of the component.
     * @param ssel          pin name of the SSEL pin of the SPI device to be used for communication.
     * @param spi           SPI device to be used for communication.
     */
    L6470(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), busy_irq(busy_irq), standby_reset(standby_reset), ssel(ssel), dev_spi(spi)
    {
        /* ACTION 4 ----------------------------------------------------------*
         * Initialize here the component's member variables, one variable per *
         * line.                                                              *
         *                                                                    *
         * Example:                                                           *
         *   measure = 0;                                                     *
         *   instance_id = number_of_instances++;                             *
         *--------------------------------------------------------------------*/
        L6470_Register = &_L6470_Register[0];
        L6470_ApplicationCommand = &_L6470_ApplicationCommand[0];
        L6470_Direction = &_L6470_Direction[0];
        L6470_ACT = &_L6470_ACT[0];
        pL6470_StatusRegister = &L6470_StatusRegister;
        prepared_action = PREPARED_NO_ACTION;
        L6470_Id = number_of_devices++;
        L6470_DaisyChain_HalfPrepared = ZERO_F;
        memset(L6470_AppCmdPkg, 0, L6470DAISYCHAINSIZE * sizeof(sL6470_AppCmdPkg_t));
        memset(L6470_DaisyChainSpiTxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
        memset(L6470_DaisyChainSpiRxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
    }

    /**
     * @brief Destructor.
     */
    virtual ~L6470(void) {}


    /*** Public Component Related Methods ***/

    /* ACTION 5 --------------------------------------------------------------*
     * Implement here the component's public methods, as wrappers of the C    *
     * component's functions.                                                 *
     * They should be:                                                        *
     *   + Methods with the same name of the C component's virtual table's    *
     *     functions (1);                                                     *
     *   + Methods with the same name of the C component's extended virtual   *
     *     table's functions, if any (2).                                     *
     *                                                                        *
     * Example:                                                               *
     *   virtual int GetValue(float *pData) //(1)                             *
     *   {                                                                    *
     *     return COMPONENT_GetValue(float *pfData);                          *
     *   }                                                                    *
     *                                                                        *
     *   virtual int EnableFeature(void) //(2)                                *
     *   {                                                                    *
     *     return COMPONENT_EnableFeature();                                  *
     *   }                                                                    *
     *------------------------------------------------------------------------*/
    /**
     * @brief  Initializing the component.
     * @param  init Pointer to device specific initalization structure.
     * @retval "0" in case of success, an error code otherwise.
     */
    virtual int Init(void *init)
    {
        return (int) L6470_Config((MICROSTEPPING_MOTOR_InitTypeDef *) init);
    }

    /**
     * @brief  Getting the ID of the component.
     * @param  id Pointer to an allocated variable to store the ID into.
     * @retval "0" in case of success, an error code otherwise.
     */
    virtual int ReadID(uint8_t *id)
    {
        return (int) 0;
    }

    /**
     * @brief  Getting the status.
     * @param  None.
     * @retval The status.
     */
    virtual unsigned int GetStatus(void)
    {
        return (unsigned int) L6470_GetStatus();
    }

    /**
     * @brief  Getting a parameter.
     * @param  parameter The parameter's identifier (or its register address).
     * @retval The parameter's value.
     */
    virtual unsigned int GetParameter(unsigned int parameter)
    {
        return (unsigned int) L6470_GetParam((eL6470_RegId_t) parameter);
    }

    /**
     * @brief  Getting the position.
     * @param  None.
     * @retval The position.
     */
    virtual signed int GetPosition(void)
    {
        return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
    }

    /**
     * @brief  Getting the marked position.
     * @param  None.
     * @retval The marked position.
     */
    virtual signed int GetMark(void)
    {
        return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID));
    }

    /**
     * @brief  Getting the current speed in pps.
     * @param  None.
     * @retval The current speed in pps.
     */
    virtual unsigned int GetSpeed(void)
    {
        return round(L6470_Speed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID)));
    }

    /**
     * @brief  Getting the maximum speed in pps.
     * @param  None.
     * @retval The maximum speed in pps.
     */
    virtual unsigned int GetMaxSpeed(void)
    {
        return round(L6470_MaxSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID)));
    }

    /**
     * @brief  Getting the minimum speed in pps.
     * @param  None.
     * @retval The minimum speed in pps.
     */
    virtual unsigned int GetMinSpeed(void)
    {
        return round(L6470_MinSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID)));
    }

    /**
     * @brief  Getting the acceleration in pps^2.
     * @param  None.
     * @retval The acceleration in pps^2.
     */
    virtual unsigned int GetAcceleration(void)
    {
        return round(L6470_Acc_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID)));
    }

    /**
     * @brief  Getting the deceleration in pps^2.
     * @param  None.
     * @retval The deceleration in pps^2.
     */
    virtual unsigned int GetDeceleration(void)
    {
        return round(L6470_Dec_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID)));
    }

    /**
     * @brief  Getting the direction of rotation.
     * @param  None.
     * @retval The direction of rotation.
     */
    virtual direction_t GetDirection(void)
    {
        return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
    }

   /**
     * @brief  Setting a parameter.
     * @param  parameter The parameter's identifier (or its register address).
     * @param  value The parameter's value.
     * @retval None.
     */
    virtual void SetParameter(unsigned int parameter, unsigned int value)
    {
        L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value);
    }

    /**
     * @brief  Setting the current position to be the home position.
     * @param  None.
     * @retval None.
     */
    virtual void SetHome(void)
    {
        L6470_ResetPos();
    }

    /**
     * @brief  Setting the current position to be the marked position.
     * @param  None.
     * @retval None.
     */
    virtual void SetMark(void)
    {
        L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
    }

    /**
     * @brief  Setting the current position to be the marked position.
     * @param  position The given position.
     * @retval None.
     */
    virtual void SetMark(signed int position)
    {
        L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
    }

    /**
     * @brief  Setting the maximum speed in pps.
     * @param  speed The maximum speed in pps.
     * @retval None.
     */
    virtual void SetMaxSpeed(unsigned int speed)
    {
        L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
    }

    /**
     * @brief  Setting the minimum speed in pps.
     * @param  speed The minimum speed in pps.
     * @retval None.
     */
    virtual void SetMinSpeed(unsigned int speed)
    {
        L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
    }

    /**
     * @brief  Setting the acceleration in pps^2.
     * @param  acceleration The acceleration in pps^2.
     * @retval None.
     */
    virtual void SetAcceleration(unsigned int acceleration)
    {
        L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
    }

    /**
     * @brief  Setting the deceleration in pps^2.
     * @param  deceleration The deceleration in pps^2.
     * @retval None.
     */
    virtual void SetDeceleration(unsigned int deceleration)
    {
        L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
    }

    /**
     * @brief  Going to a specified position through the shortest path.
     * @param  position The desired position.
     * @retval None.
     */
    virtual void GoTo(signed int position)
    {
        L6470_GoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
    }

    /**
     * @brief  Going to a specified position imposing the desired direction.
     * @param  position The desired position.
     * @param  direction The direction of rotation.
     * @retval None.
     */
    virtual void GoTo(signed int position, direction_t direction)
    {
        L6470_GoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
    }

    /**
     * @brief  Going to the home position.
     * @param  None.
     * @retval None.
     */
    virtual void GoHome(void)
    {
        L6470_GoHome();
    }

    /**
     * @brief  Going to the marked position.
     * @param  None.
     * @retval None.
     */
    virtual void GoMark(void)
    {
        L6470_GoMark();
    }

    /**
     * @brief  Running at the given speed imposing the desired direction until
     *         an external switch turn-on event occurs.
     * @param  action The identifier of the action about the absolute position.
     * @param  position The desired position.
     * @param  speed The speed value in pps.
     * @retval None.
     * @note   The identifier of the action about the absolute position can be
     *         one of the following:
     *           + L6470_ACT_RST_ID: the absolute position is reset;
     *           + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
     */
    virtual void GoUntil(eL6470_ActId_t action, direction_t direction, unsigned int speed)
    {
        L6470_GoUntil((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
    }

    /**
     * @brief  Running towards a specified direction.
     * @param  direction The direction of rotation.
     * @retval None.
     */
    virtual void Run(direction_t direction)
    {
        L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID));
    }

    /**
     * @brief  Running towards a specified direction at the given speed.
     * @param  direction The direction of rotation.
     * @param  speed The speed value in pps.
     * @retval None.
     */
    virtual void Run(direction_t direction, unsigned int speed)
    {
        L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
    }

    /**
     * @brief  Moving towards a specified direction for a certain number of steps.
     * @param  direction The direction of rotation.
     * @param  steps The desired number of steps.
     * @retval None.
     */
    virtual void Move(direction_t direction, unsigned int steps)
    {
        L6470_Move((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
    }

    /**
     * @brief  Stopping the motor through an immediate deceleration up to zero speed.
     *         The used deceleration value is the one stored in the "DEC" register.
     * @param  None.
     * @retval None.
     */
    virtual void SoftStop(void)
    {
        L6470_SoftStop();
    }

    /**
     * @brief  Stopping the motor through an immediate infinite deceleration.
     * @param  None.
     * @retval None.
     */
    virtual void HardStop(void)
    {
        L6470_HardStop();
    }

    /**
     * @brief  Disabling the power bridge after performing a deceleration to zero.
     *         The used deceleration value is the one stored in the "DEC" register.
     * @param  None.
     * @retval None.
     */
    virtual void SoftHiZ(void)
    {
        L6470_SoftHiZ();
    }

    /**
     * @brief  Disabling the power bridge immediately.
     * @param  None.
     * @retval None.
     */
    virtual void HardHiZ(void)
    {
        L6470_HardHiZ();
    }

    /**
     * @brief  Waiting while the motor is active.
     * @param  None.
     * @retval None.
     */
    virtual void WaitWhileActive(void)
    {
        while (L6470_CheckStatusRegisterFlag(BUSY_ID) == 0);
    }

    /**
      * @brief  Switching to step-clock mode.
      * @param  direction The direction of rotation.
      * @retval None.
      */
    virtual void StepClock(direction_t direction)
    {
        L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
    }

    /**
      * @brief  Doing a motion at minimum speed imposing a specified direction
      *         until the SW is released.
      * @param  action The identifier of the action about the absolute position.
      * @param  direction The direction of rotation.
      * @note   The identifier of the action about the absolute position can be
      *         one of the following:
      *           + L6470_ACT_RST_ID: the absolute position is reset;
      *           + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
      */
    virtual void ReleaseSW(eL6470_ActId_t action, direction_t direction)
    {
        L6470_ReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
    }

    /**
      * @brief  Resetting the device to power-up conditions.
      * @param  None.
      * @retval None.
      */
    virtual void ResetDevice(void)
    {
        L6470_ResetDevice();
    }

    /**
     * @brief  Preparing the command to get the status.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareGetStatus(void)
    {
        L6470_PrepareGetStatus();
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to get a parameter.
     * @param  parameter The parameter's identifier (or its register address).
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareGetParameter(unsigned int parameter)
    {
        L6470_PrepareGetParam((eL6470_RegId_t) parameter);
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to get the position.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareGetPosition(void)
    {
        L6470_PrepareGetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
        prepared_action = PREPARED_GET_POSITION;
    }

    /**
     * @brief  Preparing the command to get the marked position.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareGetMark(void)
    {
        L6470_PrepareGetParam((eL6470_RegId_t) L6470_MARK_ID);
        prepared_action = PREPARED_GET_MARK;
    }

    /**
     * @brief  Preparing the command to get the current speed in pps.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareGetSpeed(void)
    {
        L6470_PrepareGetParam((eL6470_RegId_t) L6470_SPEED_ID);
        prepared_action = PREPARED_GET_SPEED;
    }

    /**
     * @brief  Preparing the command to get the maximum speed in pps.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareGetMaxSpeed(void)
    {
        L6470_PrepareGetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
        prepared_action = PREPARED_GET_MAX_SPEED;
    }

    /**
     * @brief  Preparing the command to get the minimum speed in pps.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareGetMinSpeed(void)
    {
        L6470_PrepareGetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
        prepared_action = PREPARED_GET_MIN_SPEED;
    }

    /**
     * @brief  Preparing the command to get the acceleration in pps^2.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareGetAcceleration(void)
    {
        L6470_PrepareGetParam((eL6470_RegId_t) L6470_ACC_ID);
        prepared_action = PREPARED_GET_ACCELERATION;
    }

    /**
     * @brief  Preparing the command to get the deceleration in pps^2.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareGetDeceleration(void)
    {
        L6470_PrepareGetParam((eL6470_RegId_t) L6470_DEC_ID);
        prepared_action = PREPARED_GET_DECELERATION;
    }

    /**
     * @brief  Preparing the command to get the direction of rotation.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareGetDirection(void)
    {
        if (!L6470_DaisyChain_HalfPrepared)
        {
            /* To avoid deleting the previous entered command. */
            L6470_DaisyChain_HalfPrepared = ONE_F;
            /* Resetting commands. */
            L6470_ResetAppCmdPkg(L6470_AppCmdPkg);
        }
        prepared_action = PREPARED_GET_DIRECTION;
    }

   /**
     * @brief  Preparing the command to set a parameter.
     * @param  parameter The parameter's identifier (or its register address).
     * @param  value The parameter's value.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareSetParameter(unsigned int parameter, unsigned int value)
    {
        L6470_PrepareSetParam((eL6470_RegId_t) parameter, (uint32_t) value);
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to set the current position to be
     *         the home position.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareSetHome(void)
    {
        L6470_PrepareResetPos();
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to set the current position to be
     *         the marked position.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareSetMark(void)
    {
        /*
           Set "0" now as marked position. This value will be replaced by the
           actual position read at the time when the prepared actions will be
           performed.
        */
        L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, 0);
        prepared_action = PREPARED_SET_MARK;
    }

    /**
     * @brief  Preparing the command to set the given position to be
     *         the marked position.
     * @param  position The given position.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareSetMark(signed int position)
    {
        L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to set the current speed in pps.
     * @param  speed The current speed in pps.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareSetSpeed(unsigned int speed)
    {
        L6470_PrepareSetParam((eL6470_RegId_t) L6470_SPEED_ID, (uint32_t) L6470_Step_s_2_Speed((float) speed));
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to set the maximum speed in pps.
     * @param  speed The maximum speed in pps.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareSetMaxSpeed(unsigned int speed)
    {
        L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to set the minimum speed in pps.
     * @param  speed The minimum speed in pps.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareSetMinSpeed(unsigned int speed)
    {
        L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to set the acceleration in pps^2.
     * @param  acceleration The acceleration in pps^2.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareSetAcceleration(unsigned int acceleration)
    {
        L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to set the deceleration in pps^2.
     * @param  deceleration The deceleration in pps^2.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareSetDeceleration(unsigned int deceleration)
    {
        L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to go to a specified position.
     * @param  position The desired position.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareGoTo(signed int position)
    {
        L6470_PrepareGoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to go to a specified position
     *         imposing the desired direction.
     * @param  position The desired position.
     * @param  direction The direction of rotation.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareGoTo(signed int position, direction_t direction)
    {
        L6470_PrepareGoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to go to the home position.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareGoHome(void)
    {
        L6470_PrepareGoHome();
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to go to the marked position.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareGoMark(void)
    {
        L6470_PrepareGoMark();
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to run at the given speed imposing the desired
     *         direction until an external switch turn-on event occurs.
     * @param  action The identifier of the action about the absolute position.
     * @param  position The desired position.
     * @param  speed The speed value in pps.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     *         The identifier of the action about the absolute position can be
     *         one of the following:
     *           + L6470_ACT_RST_ID: the absolute position is reset;
     *           + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
     */
    virtual void PrepareGoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
    {
        L6470_PrepareGoUntil((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to run towards a specified direction
     *         at the maximum speed.
     * @param  direction The direction of rotation.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareRun(direction_t direction)
    {
        L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID));
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to run towards a specified direction
     *         at the given speed.
     * @param  direction The direction of rotation.
     * @param  speed The speed value in pps.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareRun(direction_t direction, unsigned int speed)
    {
        L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to move towards a specified direction
     *         for a certain number of steps.
     * @param  direction The direction of rotation.
     * @param  steps The desired number of steps.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareMove(direction_t direction, unsigned int steps)
    {
        L6470_PrepareMove((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to stop the motor.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareSoftStop(void)
    {
        L6470_PrepareSoftStop();
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to stop the motor and disabling the power bridge.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareHardStop(void)
    {
        L6470_PrepareHardStop();
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to disable the power bridge after performing
     *         a deceleration to zero.
     *         The used deceleration value is the one stored in the "DEC" register.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareSoftHiZ(void)
    {
        L6470_PrepareSoftHiZ();
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
     * @brief  Preparing the command to disable the power bridge immediately.
     * @param  None.
     * @retval None.
     * @note   The command will be sent by issuing "PerformAction()".
     */
    virtual void PrepareHardHiZ(void)
    {
        L6470_PrepareHardHiZ();
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
      * @brief  Preparing the command to switch to step-clock mode.
      * @param  direction The direction of rotation.
      * @retval None.
      * @note   The command will be sent by issuing "PerformAction()".
      */
    virtual void PrepareStepClock(direction_t direction)
    {
        L6470_PrepareStepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
      * @brief  Preparing the command to do a motion at minimum speed
      *         imposing a specified direction until the SW is released.
      * @param  action The identifier of the action about the absolute position.
      * @param  direction The direction of rotation.
      * @retval None.
      * @note   The command will be sent by issuing "PerformAction()".
      *         The identifier of the action about the absolute position can be
      *         one of the following:
      *           + L6470_ACT_RST_ID: the absolute position is reset;
      *           + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
      */
    virtual void PrepareReleaseSW(eL6470_ActId_t action, direction_t direction)
    {
        L6470_PrepareReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
      * @brief  Preparing the command to reset the device to power-up conditions.
      * @param  None.
      * @retval None.
      * @note   The command will be sent by issuing "PerformAction()".
      */
    virtual void PrepareResetDevice(void)
    {
        L6470_PrepareResetDevice();
        prepared_action = PREPARED_NO_ACTION;
    }

    /**
      * @brief    Performing all the actions prepared on the components
      *           of the daisy-chain.
      * @param    None.
      * @retval   The raw data returned by the components.
      */
    uint8_t* PerformPreparedActions(void)
    {
        return L6470_PerformPreparedApplicationCommand();
    }

    /**
      * @brief    Getting the prepared action.
      * @param    None
      * @retval   The prepared action.
      */
    prepared_action_t GetPreparedAction(void)
    {
        return prepared_action;
    }

    /**
      * @brief    Converting the raw data received by the component according to
      *           the action performed on it.
      * @param    raw_data The received raw data.
      * @retval   The result of the action performed.
      */
    int32_t GetResult(uint8_t *raw_data)
    {
        switch (prepared_action)
        {
            case PREPARED_GET_POSITION:
                return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ABS_POS_ID].LengthByte));

            case PREPARED_GET_MARK:
                return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MARK_ID].LengthByte));

            case PREPARED_GET_SPEED:
                return round(L6470_Speed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_SPEED_ID].LengthByte)));
    
            case PREPARED_GET_MAX_SPEED:
                return round(L6470_MaxSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MAX_SPEED_ID].LengthByte)));
    
            case PREPARED_GET_MIN_SPEED:
                return round(L6470_MinSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MIN_SPEED_ID].LengthByte)));
    
            case PREPARED_GET_ACCELERATION:
                return round(L6470_Acc_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ACC_ID].LengthByte)));
    
            case PREPARED_GET_DECELERATION:
                return round(L6470_Dec_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_DEC_ID].LengthByte)));

            case PREPARED_GET_DIRECTION:
                return (int32_t) (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);

            default:
            case PREPARED_NO_ACTION:
                return 0;
        }
    }


    /*** Public Interrupt Related Methods ***/

    /* ACTION 6 --------------------------------------------------------------*
     * Implement here interrupt related methods, if any.                      *
     * Note that interrupt handling is platform dependent, e.g.:              *
     *   + mbed:                                                              *
     *     InterruptIn feature_irq(pin); //Interrupt object.                  *
     *     feature_irq.rise(callback);   //Attach a callback.                 *
     *     feature_irq.mode(PullNone);   //Set interrupt mode.                *
     *     feature_irq.enable_irq();     //Enable interrupt.                  *
     *     feature_irq.disable_irq();    //Disable interrupt.                 *
     *   + Arduino:                                                           *
     *     attachInterrupt(pin, callback, RISING); //Attach a callback.       *
     *     detachInterrupt(pin);                   //Detach a callback.       *
     *                                                                        *
     * Example (mbed):                                                        *
     *   void AttachFeatureIRQ(void (*fptr) (void))                           *
     *   {                                                                    *
     *     feature_irq.rise(fptr);                                            *
     *   }                                                                    *
     *                                                                        *
     *   void EnableFeatureIRQ(void)                                          *
     *   {                                                                    *
     *     feature_irq.enable_irq();                                          *
     *   }                                                                    *
     *                                                                        *
     *   void DisableFeatureIRQ(void)                                         *
     *   {                                                                    *
     *     feature_irq.disable_irq();                                         *
     *   }                                                                    *
     *------------------------------------------------------------------------*/
    /**
     * @brief  Attaching an interrupt handler to the FLAG interrupt.
     * @param  fptr An interrupt handler.
     * @retval None.
     */
    void AttachFlagIRQ(void (*fptr)(void))
    {
        flag_irq.rise(fptr);
    }
    
    /**
     * @brief  Enabling the FLAG interrupt handling.
     * @param  None.
     * @retval None.
     */
    void EnableFlagIRQ(void)
    {
        flag_irq.enable_irq();
    }
    
    /**
     * @brief  Disabling the FLAG interrupt handling.
     * @param  None.
     * @retval None.
     */
    void DisableFlagIRQ(void)
    {
        flag_irq.disable_irq();
    }

    /**
     * @brief  Attaching an interrupt handler to the BUSY interrupt.
     * @param  fptr An interrupt handler.
     * @retval None.
     */
    void AttachBusyIRQ(void (*fptr)(void))
    {
        busy_irq.rise(fptr);
    }
    
    /**
     * @brief  Enabling the BUSY interrupt handling.
     * @param  None.
     * @retval None.
     */
    void EnableBusyIRQ(void)
    {
        busy_irq.enable_irq();
    }

    /**
     * @brief  Disabling the BUSY interrupt handling.
     * @param  None.
     * @retval None.
     */
    void DisableBusyIRQ(void)
    {
        busy_irq.disable_irq();
    }


protected:

    /*** Protected Component Related Methods ***/

    /* ACTION 7 --------------------------------------------------------------*
     * Declare here the component's specific methods.                         *
     * They should be:                                                        *
     *   + Methods with the same name of the C component's virtual table's    *
     *     functions (1);                                                     *
     *   + Methods with the same name of the C component's extended virtual   *
     *     table's functions, if any (2);                                     *
     *   + Helper methods, if any, like functions declared in the component's *
     *     source files but not pointed by the component's virtual table (3). *
     *                                                                        *
     * Example:                                                               *
     *   DrvStatusTypeDef COMPONENT_GetValue(float* pfData); //(1)            *
     *   DrvStatusTypeDef COMPONENT_EnableFeature(void);     //(2)            *
     *   DrvStatusTypeDef COMPONENT_ComputeAverage(void);    //(3)            *
     *------------------------------------------------------------------------*/
    int32_t  L6470_AbsPos_2_Position(uint32_t AbsPos);
    uint32_t L6470_Position_2_AbsPos(int32_t Position);
    float    L6470_Speed_2_Step_s(uint32_t Speed);
    uint32_t L6470_Step_s_2_Speed(float Step_s);
    float    L6470_Acc_2_Step_s2(uint16_t Acc);
    uint16_t L6470_Step_s2_2_Acc(float Step_s2);
    float    L6470_Dec_2_Step_s2(uint16_t Dec);
    uint16_t L6470_Step_s2_2_Dec(float Step_s2);
    float    L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed);
    uint16_t L6470_Step_s_2_MaxSpeed(float Step_s);
    float    L6470_MinSpeed_2_Step_s(uint16_t MinSpeed);
    uint16_t L6470_Step_s_2_MinSpeed(float Step_s);
    float    L6470_FsSpd_2_Step_s(uint16_t FsSpd);
    uint16_t L6470_Step_s_2_FsSpd(float Step_s);
    float    L6470_IntSpeed_2_Step_s(uint16_t IntSpeed);
    uint16_t L6470_Step_s_2_IntSpeed(float Step_s);
    float    L6470_StSlp_2_s_Step(uint8_t StSlp);
    uint8_t  L6470_s_Step_2_StSlp(float s_Step);
    float    L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc);
    uint8_t  L6470_s_Step_2_FnSlpAcc(float s_Step);
    float    L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec);
    uint8_t  L6470_s_Step_2_FnSlpDec(float s_Step);
    float    L6470_OcdTh_2_mA(uint8_t OcdTh);
    uint8_t  L6470_mA_2_OcdTh(float mA);
    float    L6470_StallTh_2_mA(uint8_t StallTh);
    uint8_t  L6470_mA_2_StallTh(float mA);
    DrvStatusTypeDef L6470_Config(MICROSTEPPING_MOTOR_InitTypeDef *MotorParameterData);
    void     L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
    uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId);
    void     L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed);
    void     L6470_StepClock(eL6470_DirId_t L6470_DirId);
    void     L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
    void     L6470_GoTo(uint32_t AbsPos);
    void     L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
    void     L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
    void     L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
    void     L6470_GoHome(void);
    void     L6470_GoMark(void);
    void     L6470_ResetPos(void);
    void     L6470_ResetDevice(void);
    void     L6470_SoftStop(void);
    void     L6470_HardStop(void);
    void     L6470_SoftHiZ(void);
    void     L6470_HardHiZ(void);
    uint16_t L6470_GetStatus(void);
    void     L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
    void     L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId);
    void     L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed);
    void     L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId);
    void     L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
    void     L6470_PrepareGoTo(uint32_t AbsPos);
    void     L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
    void     L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
    void     L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
    void     L6470_PrepareGoHome(void);
    void     L6470_PrepareGoMark(void);
    void     L6470_PrepareResetPos(void);
    void     L6470_PrepareResetDevice(void);
    void     L6470_PrepareSoftStop(void);
    void     L6470_PrepareHardStop(void);
    void     L6470_PrepareSoftHiZ(void);
    void     L6470_PrepareHardHiZ(void);
    void     L6470_PrepareGetStatus(void);
    uint8_t* L6470_PerformPreparedApplicationCommand(void);
    void     L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct);
    uint32_t L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
    uint8_t  L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId);
    uint8_t* L6470_GetRegisterName(uint8_t id);
    void     L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg);
    void     L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3);
    void     L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3);
    void     L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct);

    /**
     * @brief  Rounding a floating point number to the nearest unsigned integer number.
     * @param  f The floating point number.
     * @retval The nearest unsigned integer number.
     */
    int round(float f)
    {
        if (f >= 0)
            return (int) f + (f - (int) f < 0.5f ? 0 : 1);
        else
            return (int) f - (f - (int) f < -0.5f ? 1 : 0);
    }


    /*** Component's I/O Methods ***/

    /**
     * @brief      Utility function to read data from L6470.
     * @param[out] pBuffer pointer to the buffer to read data into.
     * @param[in]  NumBytesToRead number of bytes to read.
     * @retval     COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
     */
    DrvStatusTypeDef Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
    {
        if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
            return COMPONENT_ERROR;
        return COMPONENT_OK;
    }
    
    /**
     * @brief      Utility function to write data to L6470.
     * @param[in]  pBuffer pointer to the buffer of data to send.
     * @param[in]  NumBytesToWrite number of bytes to write.
     * @retval     COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
     */
    DrvStatusTypeDef Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
    {
        if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
            return COMPONENT_ERROR;
        return COMPONENT_OK;
    }

    /**
     * @brief      Utility function to read and write data from/to L6470 at the same time.
     * @param[out] pBufferToRead pointer to the buffer to read data into.
     * @param[in]  pBufferToWrite pointer to the buffer of data to send.
     * @param[in]  NumBytes number of bytes to read and write.
     * @retval     COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
     */
    DrvStatusTypeDef ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
    {
        if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
            return COMPONENT_ERROR;
        return COMPONENT_OK;
    }

    /* ACTION 8 --------------------------------------------------------------*
     * Implement here other I/O methods beyond those already implemented      *
     * above, which are declared extern within the component's header file.   *
     *------------------------------------------------------------------------*/
    /*
     * Puts the device in standby mode.
     */
    void L6470_ENABLE(void)
    {
        standby_reset = 1;
    }

    /*
     * Puts the device in reset mode.
     */
    void L6470_DISABLE(void)
    {
        standby_reset = 0;
    }

    /*
     * Write and read bytes to/from the component through the SPI at the same time.
     */
    void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout)
    {
        ReadWrite(pRxData, pTxData, Size);
    }


    /*** Component's Instance Variables ***/

    /* ACTION 9 --------------------------------------------------------------*
     * Declare here interrupt related variables, if needed.                   *
     * Note that interrupt handling is platform dependent, see                *
     * "Interrupt Related Methods" above.                                     *
     *                                                                        *
     * Example:                                                               *
     *   + mbed:                                                              *
     *     InterruptIn feature_irq;                                           *
     *------------------------------------------------------------------------*/
    /* Flag Interrupt. */
    InterruptIn flag_irq;

    /* Busy Interrupt. */
    InterruptIn busy_irq;

    /* ACTION 10 -------------------------------------------------------------*
     * Declare here other pin related variables, if needed.                   *
     *                                                                        *
     * Example:                                                               *
     *   + mbed:                                                              *
     *     DigitalOut standby_reset;                                          *
     *------------------------------------------------------------------------*/
    /* Standby/reset pin. */
    DigitalOut standby_reset;

    /* ACTION 11 -------------------------------------------------------------*
     * Declare here communication related variables, if needed.               *
     *                                                                        *
     * Example:                                                               *
     *   + mbed:                                                              *
     *     DigitalOut ssel;                                                   *
     *     DevSPI &dev_spi;                                                   *
     *------------------------------------------------------------------------*/
    /* Configuration. */
    DigitalOut ssel;

    /* IO Device. */
    DevSPI &dev_spi;

    /* ACTION 12 -------------------------------------------------------------*
     * Declare here identity related variables, if needed.                    *
     * Note that there should be only a unique identifier for each component, *
     * which should be the "who_am_i" parameter.                              *
     *------------------------------------------------------------------------*/
    /* Identity */
    uint8_t who_am_i;

    /* ACTION 13 -------------------------------------------------------------*
     * Declare here the component's static and non-static data, one variable  *
     * per line.                                                              *
     *                                                                        *
     * Example:                                                               *
     *   float measure;                                                       *
     *   int instance_id;                                                     *
     *   static int number_of_instances;                                      *
     *------------------------------------------------------------------------*/
    /* Data. */
    uint8_t L6470_Id;
    const sL6470_Register_t *L6470_Register;
    const sL6470_ApplicationCommand_t *L6470_ApplicationCommand;
    const sL6470_Direction_t *L6470_Direction;
    const sL6470_ACT_t *L6470_ACT;
    sL6470_StatusRegister_t L6470_StatusRegister;
    sL6470_StatusRegister_t *pL6470_StatusRegister; 
    StepperMotorRegister_t StepperMotorRegister;
    prepared_action_t prepared_action;

    /* Static data. */
    static uint8_t number_of_devices;
    static const sL6470_Register_t _L6470_Register[L6470REGIDSIZE];
    static const sL6470_ApplicationCommand_t _L6470_ApplicationCommand[L6470APPCMDIDSIZE];
    static const sL6470_Direction_t _L6470_Direction[L6470DIRIDSIZE];
    static const sL6470_ACT_t _L6470_ACT[L6470ACTIDSIZE];
    static eFlagStatus_t L6470_DaisyChain_HalfPrepared;
    static sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
    static uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
    static uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
};

#endif // __L6470_CLASS_H

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/